Samples

Overview

In the samples, the document provides you with a list of the completely built modules in many nominated industries to support you build on your module. If you still don’t know where to start, these samples would be useful for you to have an initial view of the project and be able to easily adjust it. Create your own module using the sample. Find out more information below.

Github : https://github.com/dr-dart

Samples

Project Name

Usage

1

user-module-sample-run-taskeditor-api

Keyword: Task Editor, Task list, Task File, Interface

This is a sample module that have following features:

Get all tasks defined in Task Editor in an array.
Select certain task among task array.

This module provides the following features:

Through message get_taskfile:
- Get all tasks defined in task editor in an array.
Through message select_task:
- Set the current task by name.

2

user-module-sample-log-memo

Keyword: Log, Log Export

This module is a sample module that provides log message and event message processing and storage functionality through DRL's tp_log() and message_to_dp() functions.

This module provides the following features:

Through DRL's tp_log() function(Command Block in Task Editor Module: Comment):
- Log message recording
- Log message storage and extraction
Through DRL's message_to_dp() function:
- Event message communication test between DRL and module

3

user-module-sample-user-command

Keyword: User Command, pages, DRL,TaskPoseControl User Compoenent , ZYX Pose to ZYZ Pose

This sample contains the most up-to-date user command functionality.

The module's main screen (module screen) has two pages, and the values set on each page are saved in the DB.

Device IP Setting Page
Initial Pose Setting Page

The module's PIP screen (user command screen) provides a page for setting Connect & Move commands and Convert Pose commands based on the settings set in the main screen.

4

user-module-sample-dio-gripper

Keyword: User Command, Digital I/O, Gripper, Main Screen, PIP Screen

This sample is a modified Digital I/O module provided from the Device Module UI templates in Dr.Dart-IDE.

In this Module, you can

Select the preset gripper setting in order to input values.
Change and add TCP(Tool Center Point) and Tool Weight Robot Parameters. Also you can set these parameters in the robot with tool button of the topbar in Dr.Dart-Platform.
Change the Digital I/O signal types, ports and values of the Grasp and Release.

In Task Editor Module(former Task Builder/Task Writer),

Grasp and Release User Command block will be displayed in the User Command block list.
You can add this command block to your task list and select the preset gripper setting.
When the task is executed, the gripper's Grasp and Release motion will operate in robot.

5

user-module-sample-2d-vision-s

Keyword: User Command, 2d vision, Tcp/ip, ,Main Screen, PIP Screen

This sample is a modified TCP/IP client Template module provided from the Device Module UI templates.

In this Module, you can

Perform camera connection tests.
Change between free-run and Trigger modes.
Load and select Vision Job lists and apply them.
Input and combine Command commands to set up the camera and view the output results.
Perform calibration between the camera and the robot.

In Task Editor Module(former Task Builder/Task Writer),

You can add these command blocks to your task list to set up Shoot Pose, Vision Pose, and Picking Pose.
Obtain 2D Pose through the Detection User Command.
When the task is executed, the 2D Pose can be utilized in other commands.